JP2021063343A - Entry management system for mechanical parking device, entry management method, entry management program, and mechanical parking device - Google Patents

Abstract

To provide an entry management system for a mechanical parking device, an entry management method therefor, an entry management program therefor, and the mechanical parking device capable of entering more safely.SOLUTION: An entry management system for a mechanical parking device is provided with an acquisition part 31 for acquiring an image obtained by photographing a vehicle to be entered, and a determination part 33 for determining the propriety of entry of the vehicle into the mechanical parking device on the basis of the image, and the determination part 33 determines the propriety of the warehousing of the vehicle on the basis of vehicle type information.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a warehousing management system for a mechanical parking device, a warehousing management method thereof, a warehousing management program, and a mechanical parking device.

In the mechanical parking device, the vehicle is transported and stored in the storage area. For example, in the berth type (IPS), a vehicle parked in a warehousing berth is transported to a storage area by a transportation means such as a warehousing lift or a conveyor and stored, and the vehicle is warehousing.

Patent Document 1 discloses that even if the user loses the parking ticket, the vehicle-specific factor is recognized from the image of the vehicle, and the vehicle is searched by using the vehicle-specific factor at the time of leaving the garage. There is.

JP-A-2002-352284

In a mechanical parking device, an abnormality may occur during transportation (storage) depending on the vehicle. For example, when a vehicle with a low vehicle height (minimum ground clearance) is stored, the vehicle may come into physical contact with a sensor or the like. That is, when a vehicle that is not suitable for warehousing is warehousing, there is a possibility that the vehicle or the equipment of the mechanical parking device may be damaged or an abnormal stop may occur.

This disclosure has been made in view of such circumstances, and is a warehousing management system for a mechanical parking device capable of safer warehousing, a warehousing management method thereof, a warehousing management program, and a mechanical parking device. The purpose is to provide.

The first aspect of the present disclosure is a machine including an acquisition unit that acquires an image of a vehicle to be warehousing, and a determination unit that determines the suitability of warehousing of the vehicle with respect to the mechanical parking device based on the image. It is a warehousing management system for type parking devices.

The second aspect of the present disclosure includes a step of acquiring an image of a vehicle to be warehousing and a step of determining the suitability of warehousing of the vehicle with respect to the mechanical parking device based on the image. This is a method for managing the warehousing of equipment.

In the third aspect of the present disclosure, a computer is made to execute a process of acquiring an image of a vehicle to be warehousing and a process of determining the suitability of warehousing of the vehicle with respect to the mechanical parking device based on the image. It is a warehousing management program for mechanical parking devices.

According to the present disclosure, it is possible to carry out warehousing more safely.

It is a figure which shows the schematic structure of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a schematic block diagram of the warehousing area of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a schematic block diagram of the delivery area of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a hardware block diagram of the control device which concerns on 1st Embodiment of this disclosure. It is a functional block diagram which showed the function which the control device which concerns on 1st Embodiment of this disclosure has. It is a figure which shows the example of the notification of the determination result which concerns on 1st Embodiment of this disclosure. It is a figure which showed the flowchart of the warehousing determination processing in the control device which concerns on 1st Embodiment of this disclosure. It is a figure which showed the flowchart of the warehousing determination processing in the control device which concerns on 2nd Embodiment of this disclosure. It is a figure which showed the flowchart of the warehousing determination processing in the control device which concerns on 3rd Embodiment of this disclosure. It is a figure which showed the flowchart of the warehousing determination processing in the control device which concerns on 4th Embodiment of this disclosure. It is a figure which showed each dimension of a vehicle.

[First Embodiment]
Hereinafter, a warehousing management system for a mechanical parking device according to the present invention, a warehousing management method thereof, a warehousing management program, and a first embodiment of the mechanical parking device will be described with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a mechanical parking device 60 according to a first embodiment of the present invention. The mechanical parking device 60 in the present embodiment is a berth type (planar reciprocating conveyor type), and for example, vehicles are loaded and unloaded from the boarding floor provided on the ground. In the present embodiment, the berth type mechanical parking device 60 will be described as an example, but the warehousing management system can be similarly applied to other types of mechanical parking devices.

As shown in FIG. 1, the boarding / alighting room (boarding / alighting area) 70 is provided on the boarding / alighting floor, and the boarding / alighting room 70 is provided with a warehousing area (warehousing berth) 70a and a warehousing area (delivery berth) 70b. Has been done. The vehicle parked in the warehousing berth 70a (entered by the driver or the like) is stored in the storage area on the storage floor 66. The vehicle stored in the storage area is transported to the delivery berth 70b and is delivered.

FIG. 2 is a schematic configuration diagram of the warehousing berth 70a. As shown in FIG. 2, the warehousing lift 62 can be connected to the warehousing berth 70a. When the warehousing lift 62 is placed on the boarding floor (when the warehousing lift 62 is placed at substantially the same height as the floor surface of the warehousing berth 70a), the vehicles are warehousing from the warehousing berth 70a by the horizontal feed conveyors 61a to 61d. It is laterally fed to the lift 62. An operation panel 22 is provided on the outside of the warehousing berth 70a. The operation panel 22 is an input device for executing various operations in the mechanical parking device 60. For example, the operation panel 22 is operated when the transportation of the vehicle parked in the warehousing berth 70a is started. Further, the operation panel 22 is notified (displayed) by the control device 30 described later. Further, the warehousing berth 70a is provided with a photographing means (camera) 35. The photographing means is a device for photographing a vehicle (vehicle parked in the warehousing berth 70a) to be warehousing. The captured image is used by the control device 30. The installation position of the photographing means 35 in FIG. 2 is an example, and is not limited to the installation position of FIG. 2 as long as the vehicle can be photographed.

When the vehicle is warehousing, the vehicle parked in the warehousing berth 70a for warehousing is moved to the warehousing lift 62 by the lateral feed conveyors 61a to 61d. Then, the warehousing lift 62 conveys (descends) the vehicle to a predetermined storage shelf on the storage floor 66, and the lateral feed conveyors 61c to 61f move the vehicle from the warehousing lift 62 to the traveling carriage 63. Then, the traveling trolley 63 on which the warehousing vehicle is placed travels on the trolley traveling path 64 and moves to a predetermined storage section. After that, the warehousing vehicles on the traveling carriage 63 are stored in a predetermined storage section by the horizontal feed conveyors 61e to 61h.

FIG. 3 is a schematic configuration diagram of the delivery berth 70b. As shown in FIG. 3, a delivery lift 65 can be connected to the delivery berth 70b. When the warehousing lift 65 is placed on the boarding floor (when the warehousing lift 65 is placed at substantially the same height as the floor surface of the warehousing berth 70b), the vehicles are laid out from the warehousing berth 70b by the lateral feed conveyors 61i to 61l. It is laterally fed to the lift 65. An operation panel 22 is provided on the outside of the delivery berth 70b. The operation panel 22 is an input device for executing various operations in the mechanical parking device 60. The delivery berth 70b may also be provided with a photographing means.

When the vehicle is to be delivered, the delivery vehicle is moved from the storage section to the traveling carriage 63 by the lateral feed conveyors 61e to 61h, and is also transferred from the traveling carriage 63 to the delivery lift 65 by the lateral feed conveyors 61e, 61f, 61i, 61j. .. Then, the delivery vehicle is conveyed (raised) to the delivery berth 70b by the delivery lift 65, and is moved to the delivery berth 70b by the lateral feed conveyors 61i to 61l.

The warehousing lift 62 and the warehousing lift 65 are transport means for transporting the vehicle between the boarding floor (stocking area) and the storage floor (storage area) 66. The horizontal feed conveyors 61a to 61l and the traveling carriage 63 are also transport means for transporting the vehicle. The transport means includes each device for transporting the vehicle, and each device is configured based on a pre-designed specification. For example, the width between the lateral feed conveyors 61a and 61d cannot be changed according to the vehicle. Therefore, depending on the vehicle, there is a possibility that an abnormality may occur at the time of warehousing (transportation). Therefore, the warehousing management is performed by the control device 30 described later.

The control device (warehousing management system) 30 manages the warehousing of vehicles stored in the mechanical parking device 60. Specifically, it is determined whether or not the mechanical parking device 60 can be stored. A warning will be given to vehicles that are presumed to be unable to be stocked. For example, in the mechanical parking device 60, when a vehicle having a low minimum ground height comes into physical contact with the sensor of the trolley in the storage area, or in the storage area (during transportation), the laser beam of the collision prevention infrared laser is used. When the front wheels and rear wheels do not properly rest on the lateral feed conveyors 61a to 61b in the warehousing berth 70a (for example, the distance of S + F in FIG. 11). (When is greater than or equal to the permissible value), etc. may occur. In such a case, the vehicle may not be able to be transported or may stop abnormally in the middle, which may cause an accident. Therefore, the control device 30 determines whether or not the vehicle is suitable for warehousing, and manages the vehicle so that the warehousing can be safely executed.

FIG. 4 is a diagram showing an example of the hardware configuration of the control device 30 according to the present embodiment.
As shown in FIG. 4, the control device 30 is a computer system (computer system), for example, a CPU 11, a ROM (Read Only Memory) 12 for storing a program or the like executed by the CPU 11, and each program at the time of execution. It is provided with a RAM (Random Access Memory) 13 that functions as a work area of the above, a hard disk drive (HDD) 14 as a large-capacity storage device, and a communication unit 15 for connecting to a network or the like. Each of these parts is connected via a bus 18.

Further, the control device 30 may include an input unit including a keyboard, a mouse, and the like, a display unit including a liquid crystal display device for displaying data, and the like.

The storage medium for storing the program or the like executed by the CPU 11 is not limited to the ROM 12. For example, it may be another auxiliary storage device such as a magnetic disk, a magneto-optical disk, or a semiconductor memory.

A series of processing processes for realizing various functions described later is recorded in the hard disk drive 14 or the like in the form of a program, and the CPU 11 reads this program into the RAM 13 or the like to execute information processing / arithmetic processing. As a result, various functions described later are realized. The program is installed in ROM 12 or other storage medium in advance, is provided in a state of being stored in a computer-readable storage medium, or is distributed via a wired or wireless communication means. Etc. may be applied. Computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, and the like.

FIG. 5 is a functional block diagram showing the functions included in the control device 30. As shown in FIG. 5, the control device 30 includes an acquisition unit 31, an estimation unit 32, a determination unit 33, and a notification unit 34. The function of each part in FIG. 5 is a function as a warehousing management system, and may have other functions.

The acquisition unit 31 acquires an image of the vehicle to be stored. The warehousing target is a vehicle that is desired to be warehousing in the mechanical parking device 60, and indicates a state before being transported to the storage area. The acquisition unit 31 acquires an image of a vehicle (before transportation) parked in the warehousing berth 70a from a photographing means 35 provided in advance in the warehousing berth 70a.

As for the photographing means 35, one unit may be provided or a plurality of units may be provided. In the present embodiment, since the vehicle type is estimated based on the captured image, it is preferable that the photographing means is provided at a position where the vehicle type can be estimated.

In the present embodiment, the photographing means 35 is provided in the warehousing berth 70a, but since it is sufficient that the image of the vehicle before transportation can be acquired, it enters the outside of the warehousing berth 70a (for example, entering the warehousing berth 70a). It may be provided at a position where the vehicle in front can be photographed).

The image of the vehicle acquired by the acquisition unit 31 is output to the estimation unit 32 and the determination unit 33.

The estimation unit 32 estimates the vehicle type of the vehicle to be stored based on the acquired image. That is, the estimation unit 32 identifies the vehicle type of the vehicle to be stored.

Specifically, the estimation unit 32 extracts feature points from an image of a vehicle to be estimated (vehicle to be stored). The feature point (feature of the image) is a feature of the vehicle that can distinguish the vehicle type. The feature points are, for example, the outline of the vehicle, the color of the vehicle, the height of the vehicle, the length of the vehicle, the width of the vehicle, the wheelbase (distance between the front and rear axles of the vehicle), the license plate, the manufacturer (emblem), etc. is there. As the feature point, at least one of the above may be used. For example, FIG. 11 shows an example of each dimension of the vehicle. In FIG. 11, W is the vehicle width, L is the vehicle length, H is the vehicle height (maximum ground clearance), G is the vehicle height (minimum ground clearance), and S is the axis. The distance, GL is the ground clearance length, F is the front overhang, and SR is the length obtained by subtracting the front overhang from the vehicle length.

The estimation unit 32 extracts feature points from the acquired image and estimates the vehicle type based on the extracted feature points. For example, the vehicle type is narrowed down based on the extracted feature points, and the vehicle type is estimated. Regarding the vehicle type estimation, the vehicle type may be specified by image matching or the like between the acquired image and the image of the vehicle corresponding to each vehicle type.

The method of estimating the vehicle type based on the image of the vehicle to be estimated can be applied without being limited to the above.

The vehicle model information estimated by the estimation unit 32 is output to the determination unit 33.

The determination unit 33 determines the suitability of warehousing of the vehicle with respect to the mechanical parking device 60 based on the image. Specifically, the determination unit 33 determines the suitability of warehousing of the vehicle based on the vehicle type information of the vehicle. The suitability of warehousing may be whether or not warehousing is possible (suitable), or the degree of attention to warehousing (the possibility that a problem may occur during warehousing). Further, in the warehousing suitability determination, a caution vehicle (a vehicle in which a problem may occur in the warehousing process) may be specified.

Specifically, the determination unit 33 determines the suitability of warehousing of the vehicle whose vehicle type is estimated based on the information (actual data) in which the vehicle type and the warehousing record are associated with each other. The warehousing record is the past warehousing result for each vehicle type. That is, based on the actual data, it is possible to refer to the past actual results of the vehicle type corresponding to the vehicle to be warehousing. The actual data may be stored by providing a storage unit in the control device 30, or the data managed by another management computer (server, etc.) may be referred to at the time of determination (download, etc.). May be good. It is preferable that the actual data is updated when a new warehousing record is collected.

As the actual data, for example, it is preferable to collect an image (and / or a vehicle type) of a warehousing vehicle, a failure occurrence factor, and a warehousing result from each site where the mechanical parking device 60 is installed. The cause of failure is the cause of the abnormality. That is, when the warehousing is completed normally, the image of the warehousing vehicle, no cause of failure, and the normal warehousing result are collected correspondingly. If an abnormality occurs during warehousing, the image of the warehousing vehicle, the cause of the failure, and the warehousing result abnormality are collected in correspondence with each other. As for the cause of failure, the alarm that has occurred may be collected according to the abnormality that has occurred, or the factor set by the maintenance personnel may be collected. In addition, the warehousing result when an abnormality occurs may be set separately for the case where the warehousing is completed and the case where the warehousing is interrupted. The vehicle type may be estimated from the image of the warehousing vehicle, or the image of the warehousing vehicle and the vehicle type may be associated with each other by a maintenance person or the like. That is, the actual data may store information related to the vehicle type and the warehousing record (at least one of the failure occurrence factor and the warehousing result) corresponding to the vehicle type.

In this way, in the actual data, the vehicle type and the warehousing record (fault cause and warehousing result) are stored in association with each other.

The determination unit 33 can determine the suitability of warehousing of the vehicle to be warehousing by referring to the warehousing record corresponding to the estimated vehicle type. That is, it can be determined whether or not the vehicle to be warehousing is a warehousing caution vehicle. For example, in the actual data, when there is no warehousing result abnormality for the target vehicle type, or when there are few warehousing result abnormalities (for example, there is a warehousing result abnormality but the number of warehousing result abnormalities with respect to the warehousing result of the corresponding vehicle type). Is less than 5%), it can be determined that warehousing is suitable. In addition, in the actual data, when there is an abnormal warehousing result for the target vehicle type, or when there are many abnormal warehousing results (for example, there is an abnormal warehousing result, but the number of abnormal warehousing results for the corresponding vehicle type is If it is 5% or more), it can be determined that the warehousing is not suitable.

The result determined by the determination unit 33 is output to the notification unit 34. If the determination unit 33 determines that the vehicle to be stored is not suitable for storage, the mechanical parking device 60 may be stopped.

The notification unit 34 notifies the user of the mechanical parking device 60 based on the determination result in the determination unit 33. In the notification to the user, before the vehicle is transported, the display is performed on the operation panel 22 provided for the warehousing berth 70a or the display means recognizable by the user (either inside or outside the warehousing berth 70a). This may be the case, or the notification may be given by a warning light or a warning sound. The method of notification is not limited.

In the present embodiment, the notification unit 34 describes the case where the warehousing result is displayed on the operation panel 22 based on the judgment result in the judgment unit 33, but the user recognizes the warehousing caution vehicle (when it is not suitable for warehousing). If possible, it is not limited to displaying the receipt record.

The warehousing record to be displayed is displayed in, for example, three stages. In this embodiment, the receipt record is displayed as "○", "△", and "×". The warehousing record "○" is a display indicating that caution is not required, the warehousing record "△" is a display indicating caution, and the warehousing record "×" means that there is no warehousing record for the corresponding vehicle model. It shows. For example, if there are a large number of warehousing records for the corresponding vehicle type and there are no abnormalities, or if there are few abnormalities (for example, the number of warehousing result abnormalities is less than 5% of the warehousing results for the corresponding vehicle model). If there is), the warehousing record "○" is displayed. If there is a warehousing record for the corresponding vehicle model, but the number of abnormalities is not small (for example, if the number of warehousing result abnormalities is 5% or more of the warehousing record for the corresponding vehicle model), the warehousing record "△" Is displayed. If it is decided to display the warehousing record "○" when there is no abnormality, the warehousing record "Δ" may be displayed when there is an abnormality. If the warehousing record of the corresponding vehicle type is not in the actual data and it is unknown whether or not an abnormality has occurred, the warehousing record "x" is displayed. In this way, it is possible to improve the convenience of the user by giving stepwise notification of the suitability of warehousing.

In the case of the warehousing record "Δ" (in the case of a vehicle that requires caution), it is preferable to display the display based on the cause of failure. For example, FIG. 6 shows an example in which a caution display (“Please confirm that the accessory power of the car is turned off”) based on the cause of failure is displayed on the operation panel 22 together with the warehousing record “Δ”. In this way, for vehicles that require caution, it is possible to carry out warehousing more safely by displaying cautions based on the cause of failure.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. 7. FIG. 7 is a flowchart showing an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 7 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation.

First, it is determined whether or not the vehicle is parked at a position where it can be photographed (S101). S101 is, for example, whether or not the vehicle is parked in the warehousing berth 70a. Whether or not the vehicle has been parked may be detected by a sensor or the like, or the user may input that the parking has been completed. It should be noted that the position where photography is possible can be a predetermined position outside the warehousing berth 70a.

If the vehicle is not parked at a position where it can be photographed (NO determination in S101), S101 is executed again. When the vehicle is parked at a position where it can be photographed (YES determination in S101), the vehicle is photographed (S102). That is, the image of the vehicle to be stored is acquired.

Next, the vehicle type is estimated based on the acquired image (S103). The vehicle type estimation is performed based on, for example, the feature points extracted from the acquired image.

Next, the suitability of warehousing of the vehicle is determined based on the estimated vehicle type and the actual data (S104). When it is determined that the warehousing of the vehicle is suitable (YES determination in S104), the user is notified that the warehousing of the vehicle is suitable (S105). S105 is, for example, a warehousing record “◯”.

When it is determined that the warehousing of the vehicle is not suitable (NO determination in S104), the user is notified that the warehousing of the vehicle is not suitable (S106). S106 is, for example, a warehousing record “Δ”.

In the determination process (S104), the warehousing record (“〇”, “△”, “×”) may be determined and the notification may be given according to each warehousing record, or only the caution vehicle (vehicle). (Vehicles determined to be unsuitable for warehousing) may be determined and notified.

After the notification, the user or maintenance staff who confirms the notification determines whether or not the warehousing can be performed normally, and the warehousing (transportation) is started or the warehousing is stopped. It should be noted that the warehousing (transportation) may be started after an appropriate process (for example, confirmation of accessory power off) is performed by a user or the like who recognizes the danger by the notification.

In this way, since it is possible to determine the suitability of warehousing of the vehicle to be warehousing before the start of warehousing, it is possible to suppress the occurrence of an abnormality during vehicle transportation or the like.

As described above, according to the warehousing management system of the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device, the image of the vehicle to be warehousing is captured. Since the suitability of warehousing for the mechanical parking device 60 is determined based on this, it is possible to easily determine the suitability of warehousing of the vehicle. Since it is possible to know whether or not the vehicle to be stored is suitable for storage, it is possible to prevent an accident or the like in the mechanical parking device 60 and to store the vehicle more safely.

In addition, by estimating the vehicle type of the vehicle from the image of the vehicle to be warehousing, it is possible to determine the suitability of warehousing based on the information of the estimated vehicle type. By based on the information in which the vehicle type and the warehousing record are associated with each other, it is possible to grasp the warehousing record of the vehicle of the same type as the warehousing target vehicle, so that it is possible to effectively determine the suitability of the warehousing. ..

Further, by giving a notification based on the determination result in the determination unit 33, the user can recognize the suitability of the warehousing.

[Second Embodiment]
Next, the warehousing management system for the mechanical parking device according to the second embodiment of the present disclosure, the warehousing management method thereof, the warehousing management program, and the mechanical parking device will be described.
In the above-described first embodiment, the suitability of warehousing is determined based on the vehicle type and the actual data, but in the present embodiment, the case where the determination is performed based on the vehicle specification information will be described. Hereinafter, the warehousing management system for the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device will be mainly described with respect to the differences from the first embodiment.

The determination unit 33 in the present embodiment determines the suitability of warehousing of the vehicle based on the vehicle specification information corresponding to the estimated vehicle type of the vehicle. The vehicle specification information is information that is set according to the vehicle type and includes the dimensions and specifications of the vehicle type of the vehicle.

The vehicle specification information may be stored by providing a storage unit in the control device 30, or the data managed by another management computer (server, etc.) may be referred to at the time of determination (download, etc.). ) May be used. It is preferable that the vehicle specification information is updated when new vehicle model information is added.

That is, the determination unit 33 acquires the vehicle specification information corresponding to the vehicle type based on the estimated vehicle type. Then, based on the vehicle specification information and the allowable vehicle specification information, the suitability of warehousing of the vehicle is determined. The permissible vehicle specification information is information indicating the range (allowable range) in which the mechanical parking device 60 can normally store the vehicle for each element of the specification information, and is the mechanical parking device. It is preset for 60 specifications. For example, the allowable vehicle specification information includes information such as the vehicle height and the vehicle length that are allowed to be stored.

That is, if each element of the vehicle specification information of the estimated vehicle type is within the allowable value of each element in the allowable vehicle specification information, the vehicle is suitable for warehousing. Therefore, the determination unit 33 can determine the suitability of warehousing of the vehicle based on the vehicle specification information and the allowable vehicle specification information.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. FIG. 8 is a flowchart showing an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 8 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. The same processes as those in the flow of FIG. 7 are designated by the same reference numerals.

First, it is determined whether or not the vehicle is parked at a position where it can be photographed (S101). If the vehicle is not parked at a position where it can be photographed (NO determination in S101), S101 is executed again. When the vehicle is parked at a position where it can be photographed (YES determination in S101), the vehicle is photographed (S102).

Next, the vehicle type is estimated based on the acquired image (S103). Next, the suitability of warehousing of the vehicle is determined based on the vehicle specification information corresponding to the estimated vehicle type (S204). When it is determined that the warehousing of the vehicle is suitable (YES determination in S204), the user is notified that the warehousing of the vehicle is suitable (S105). When it is determined that the warehousing of the vehicle is not suitable (NO determination in S204), the user is notified that the warehousing of the vehicle is not suitable (S106).

As described above, according to the warehousing management system of the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device, the vehicle specification information corresponding to the estimated vehicle type can be obtained. Based on this, it is possible to efficiently determine the suitability of warehousing of a vehicle. The vehicle specification information is, for example, a vehicle length, a vehicle height, a vehicle width, etc., and for example, it is possible to specify a large vehicle, a small vehicle, or the like that cannot be stored.

[Third Embodiment]
Next, the warehousing management system for the mechanical parking device according to the third embodiment of the present disclosure, the warehousing management method thereof, the warehousing management program, and the mechanical parking device will be described.
In the second embodiment described above, the determination is made based on the vehicle specification information corresponding to the estimated vehicle type, but in the present embodiment, the dimension of the predetermined position in the vehicle is estimated based on the image to make the determination. Will be described. Hereinafter, the warehousing management system for the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device will be mainly described with respect to the differences from the first embodiment and the second embodiment.

The determination unit 33 in the present embodiment estimates the dimensions of a predetermined position in the vehicle based on the acquired image, and determines the suitability of warehousing of the vehicle based on the estimated dimensions. That is, in the present embodiment, the dimensional information of the vehicle to be stored is acquired from the captured image. The dimension of the predetermined position is the dimension of a preset portion in the vehicle, for example, the vehicle height, the vehicle length, and the like. It is preferable to acquire dimensional information of a place where it is presumed that an abnormality may occur at the time of warehousing. Since the acquired image shows the vehicle, the dimensions of the predetermined position (for example, the vehicle height) can be estimated based on the information obtained from the image. For example, image processing or the like can be applied to the estimation method.

The determination unit 33 estimates the dimensions of a predetermined position in the vehicle based on the acquired image. Then, based on the estimated dimensions and the allowable vehicle specification information, the suitability of warehousing of the vehicle is determined. The permissible vehicle specification information is information indicating the range (allowable range) in which the mechanical parking device 60 can normally store the vehicle for each element of the specification information, and is the mechanical parking. It is preset with respect to the specifications of the device 60. That is, if the estimated dimension is within the allowable value of the corresponding dimension in the allowable vehicle specification information, the vehicle is suitable for warehousing. Therefore, the determination unit 33 can determine the suitability of warehousing of the vehicle based on the dimensions of the predetermined position in the vehicle and the allowable vehicle specification information.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. FIG. 9 is a flowchart showing an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 9 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. The same reference numerals are given to the same processes as those in the flow of FIG. 7 and the flow of FIG.

First, it is determined whether or not the vehicle is parked at a position where it can be photographed (S101). If the vehicle is not parked at a position where it can be photographed (NO determination in S101), S101 is executed again. When the vehicle is parked at a position where it can be photographed (YES determination in S101), the vehicle is photographed (S102).

Next, the dimensions at a predetermined position are estimated based on the acquired image (S303). The dimension of the predetermined position is the dimension of a predetermined portion such as the vehicle height and the vehicle length. The dimensions of a predetermined position in the vehicle are estimated by performing image processing or the like on the image of the vehicle.

Next, the suitability of warehousing of the vehicle is determined based on the estimated dimensions (S304). When it is determined that the warehousing of the vehicle is suitable (YES determination in S304), the user is notified that the warehousing of the vehicle is suitable (S105). When it is determined that the warehousing of the vehicle is not suitable (NO determination in S304), the user is notified that the warehousing of the vehicle is not suitable (S106).

As described above, according to the warehousing management system of the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device, the dimensions of the predetermined position in the vehicle based on the acquired image. By estimating, it is possible to efficiently determine the suitability of warehousing of the vehicle.

[Fourth Embodiment]
Next, the warehousing management system for the mechanical parking device according to the fourth embodiment of the present disclosure, the warehousing management method thereof, the warehousing management program, and the mechanical parking device will be described.
In the present embodiment, a case where the modification location of the vehicle is specified and the suitability of warehousing is determined will be described. Hereinafter, the warehousing management system for the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device are different from the first embodiment, the second embodiment, and the third embodiment. Will be mainly explained.

The determination unit 33 in the present embodiment identifies a modified portion of the vehicle with respect to the reference vehicle based on the image of the vehicle and the image of the reference vehicle corresponding to the estimated vehicle type, and the determination unit 33 of the vehicle is based on the information on the modified portion. Judge the suitability of warehousing. The reference vehicle is a vehicle (normal vehicle) at the time of shipment from the manufacturer and is a vehicle before modification. Since the mechanical parking device 60 is designed so that the reference vehicle of each vehicle can be stored, it is presumed that the reference vehicle can be stored. However, if the vehicle is modified, anomalies may occur during warehousing. Therefore, the determination unit 33 identifies the modified portion of the modified vehicle and uses it for determination.

The determination unit 33 identifies the modified portion of the vehicle to be warehousing by comparing the image of the vehicle to be warehousing with the image of the reference vehicle corresponding to the vehicle type estimated for the vehicle. The modified part is a part that has been changed (modified) with respect to the reference vehicle. For example, if the vehicle is modified to have a lower vehicle height than the reference vehicle, the vehicle height is specified as the modified location.

Then, the determination unit 33 determines the suitability of warehousing of the vehicle based on the information regarding the specified modified portion. In the present embodiment, the information regarding the modified portion is described as the presence or absence of modification, but it may be the position information of the modification performed on the vehicle, or it may be the difference information (for example, the degree of protrusion) with respect to the reference vehicle, and the modified location. If the suitability is determined based on, the above is not limited to the above.

In this way, since the modified part with respect to the reference vehicle can be specified, it is possible to determine the suitability of warehousing of the vehicle to be warehousing.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. FIG. 10 is a flowchart showing an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 10 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. The same processes as those in the flow of FIG. 7 are designated by the same reference numerals.

First, it is determined whether or not the vehicle is parked at a position where it can be photographed (S101). If the vehicle is not parked at a position where it can be photographed (NO determination in S101), S101 is executed again. When the vehicle is parked at a position where it can be photographed (YES determination in S101), the vehicle is photographed (S102). Next, the vehicle type is estimated based on the acquired image (S103).

Next, an image of the corresponding reference vehicle is acquired based on the estimated vehicle type (S404a). The image of the reference vehicle may be stored by providing a storage unit in the control device 30, or may be referred to (download, etc.) the data managed by another management computer (server, etc.). Good.

Next, the modified portion is specified by comparing the acquired image of the vehicle with the image of the reference vehicle (S404b). In S404b, for example, a point different from the reference vehicle is specified as a modified portion by image matching between the image of the vehicle and the image of the reference vehicle.

Next, the suitability of warehousing of the vehicle is determined based on the specified modified portion (S404c). When it is decided to judge the suitability of warehousing based on the presence or absence of modification, it is determined that warehousing of the vehicle is suitable when there is no modified part, and it is determined that warehousing of the vehicle is not suitable when there is a modified part. To.

When it is determined that the warehousing of the vehicle is suitable (YES determination in S404c), the user is notified that the warehousing of the vehicle is suitable (S105).

When it is determined that the warehousing of the vehicle is not suitable (NO determination in S404c), the user is notified that the warehousing of the vehicle is not suitable (S106).

In the present embodiment, the case where the suitability of warehousing is determined depending on the presence or absence of modification is described, but if the determination is made based on the modification location, the determination may be executed by another method. For example, the modification may be made based on the difference information with respect to the reference vehicle. In this case, the suitability of warehousing may be determined based on the degree of difference (dimensions of the modified portion) of the modified portion with respect to the reference vehicle.

As described above, according to the warehousing management system of the mechanical parking device according to the present embodiment, the warehousing management method thereof, the warehousing management program, and the mechanical parking device, the image of the vehicle and the estimated vehicle type are supported. By based on the image of the reference vehicle, it is possible to identify the modified part for the reference vehicle. Therefore, it is possible to estimate the suitability of warehousing of the vehicle to be warehousing with higher accuracy based on the information on the modified portion.

The present disclosure is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention. It is also possible to combine each embodiment. That is, the above-mentioned first embodiment, second embodiment, third embodiment, and fourth embodiment can be combined with each other.

The warehousing management system for the mechanical parking device described in each of the above-described embodiments, the warehousing management method thereof, the warehousing management program, and the mechanical parking device are grasped as follows, for example.
The warehousing management system according to the present disclosure determines the suitability of warehousing of the vehicle with respect to the mechanical parking device (60) based on the acquisition unit (31) that acquires an image of the vehicle to be warehousing and the image. A determination unit (33) is provided.

According to the warehousing management system according to the present disclosure, the suitability of warehousing for the mechanical parking device (60) is determined based on the image of the vehicle to be warehousing, so that the suitability of warehousing of the vehicle is efficiently determined. It becomes possible to judge. Since it is possible to know whether or not the vehicle to be stored is suitable for storage, it is possible to prevent an accident or the like in the mechanical parking device (60) and store the vehicle more safely. If a photographing means capable of photographing a vehicle is provided, it is possible to determine the suitability of warehousing without installing a new sensor or the like.

The warehousing management system according to the present disclosure includes an estimation unit (32) that estimates the vehicle type of the vehicle to be warehousing based on the image, and the determination unit (33) is based on the vehicle type information of the vehicle. The suitability of warehousing of the vehicle may be determined.

According to the warehousing management system according to the present disclosure, it is possible to efficiently determine the suitability of warehousing based on the information of the estimated vehicle type by estimating the vehicle type of the vehicle from the image of the vehicle to be warehousing. Become. The vehicle type information may be information related to the type of vehicle, specification information of the vehicle type, or the like, and is information capable of determining the suitability of warehousing according to the vehicle type.

In the warehousing management system according to the present disclosure, the determination unit (33) may determine the suitability of warehousing of the vehicle whose vehicle type is estimated based on the information in which the vehicle type and the warehousing record are associated with each other. ..

According to the warehousing management system according to the present disclosure, it is possible to grasp the warehousing record of a vehicle of the same type as the vehicle to be warehousing based on the information in which the vehicle type and the warehousing record are associated with each other, which is effective. It is possible to determine the suitability of warehousing.

In the warehousing management system according to the present disclosure, the determination unit (33) may determine the suitability of warehousing of the vehicle based on the vehicle specification information corresponding to the estimated vehicle type of the vehicle.

According to the warehousing management system according to the present disclosure, it is possible to efficiently determine the suitability of warehousing of a vehicle based on the vehicle specification information corresponding to the estimated vehicle type. The vehicle specification information is, for example, a vehicle length, a vehicle height, a vehicle width, etc., and for example, it is possible to specify a large vehicle, a small vehicle, or the like that cannot be stored.

In the warehousing management system according to the present disclosure, the determination unit (33) estimates the dimensions of a predetermined position in the vehicle based on the acquired image, and determines the suitability of warehousing of the vehicle based on the estimated dimensions. You may do it.

According to the warehousing management system according to the present disclosure, it is possible to efficiently determine the suitability of warehousing of a vehicle by estimating the dimensions of a predetermined position in the vehicle based on the acquired image. The dimensions of the predetermined position are, for example, the length of the vehicle, the height of the vehicle, the width of the vehicle, and the like.

In the warehousing management system according to the present disclosure, the determination unit (33) determines the modified portion of the vehicle with respect to the reference vehicle based on the image of the vehicle and the image of the reference vehicle corresponding to the estimated vehicle type. It may be specified and the suitability of warehousing of the vehicle may be determined based on the information regarding the modified portion.

According to the warehousing management system according to the present disclosure, the modified portion for the reference vehicle can be specified based on the image of the vehicle and the image of the reference vehicle corresponding to the estimated vehicle type. Therefore, it is possible to estimate the suitability of warehousing of the vehicle to be warehousing with higher accuracy based on the information on the modified portion.

The warehousing management system according to the present disclosure may include a notification unit (34) that notifies the user of the mechanical parking device (60) based on the determination result in the determination unit (33).

According to the warehousing management system according to the present disclosure, the user can recognize the suitability of warehousing by giving a notification based on the judgment result in the judgment unit (33). As for the notification, the notification (warning) may be given only when the warehousing is not suitable.

The mechanical parking device (60) according to the present disclosure includes a warehousing area, a storage area for storing a vehicle, a transport means for transporting a vehicle between the warehousing area and the storage area, and the mechanical parking device (60). ) Is equipped with a warehousing management system.

The warehousing management method of the mechanical parking device (60) according to the present disclosure includes a step of acquiring an image of a vehicle to be warehousing and, based on the image, warehousing of the vehicle with respect to the mechanical parking device (60). It has a step of determining suitability.

The warehousing management program of the mechanical parking device (60) according to the present disclosure includes a process of acquiring an image of a vehicle to be warehousing and, based on the image, warehousing of the vehicle with respect to the mechanical parking device (60). Let the computer execute the process of determining the suitability.

11: CPU
12: ROM
13: RAM
14: Hard disk drive 15: Communication unit 18: Bus 22: Operation panel 30: Control device 31: Acquisition unit 32: Estimating unit 33: Judgment unit 34: Notification unit 35: Imaging means 60: Mechanical parking devices 61a to 61l: Horizontal Feed conveyor 62: Warehousing lift 63: Traveling trolley 64: Trolley traveling path 65: Outgoing lift 66: Storage floor (storage area)
70: Boarding / alighting room 70a: Storage area (storage berth)
70b: Delivery area (delivery berth)

Claims (10)

An acquisition unit that acquires images of vehicles subject to warehousing,
Based on the image, a determination unit that determines the suitability of warehousing of the vehicle with respect to the mechanical parking device, and
A warehousing management system for mechanical parking devices. An estimation unit for estimating the vehicle type of the vehicle to be stored based on the image is provided.
The warehousing management system for a mechanical parking device according to claim 1, wherein the determination unit determines the suitability of warehousing of the vehicle based on the vehicle type information of the vehicle. The warehousing management system for a mechanical parking device according to claim 2, wherein the determination unit determines the suitability of warehousing of the vehicle whose vehicle type is estimated based on the information associated with the vehicle type and the warehousing record. The warehousing management system for a mechanical parking device according to claim 2 or 3, wherein the determination unit determines the suitability of warehousing of the vehicle based on the vehicle specification information corresponding to the estimated vehicle type of the vehicle. The determination unit estimates the dimensions of a predetermined position in the vehicle based on the acquired image, and determines the suitability of warehousing of the vehicle based on the estimated dimensions according to any one of claims 1 to 4. The described mechanical parking device warehousing management system. The determination unit identifies a modified portion of the vehicle with respect to the reference vehicle based on the image of the vehicle and an image of the reference vehicle corresponding to the estimated vehicle type, and the determination unit determines the modified portion of the vehicle with respect to the reference vehicle, and based on the information regarding the modified portion. The warehousing management system for a mechanical parking device according to claim 2 or 3, which determines the suitability of warehousing of a vehicle. The warehousing management system for a mechanical parking device according to any one of claims 1 to 6, further comprising a notification unit that notifies the user of the mechanical parking device based on the determination result in the determination unit. The warehousing area and
A storage area for storing the vehicle and
A transport means for transporting a vehicle in the storage area and the storage area, and
The warehousing management system for the mechanical parking device according to any one of claims 1 to 7.
A mechanical parking device equipped with. The process of acquiring an image of the vehicle to be stored and
Based on the image, a step of determining the suitability of warehousing of the vehicle with respect to the mechanical parking device, and
How to manage the warehousing of mechanical parking devices. The process of acquiring an image of the vehicle to be stored and
Based on the image, a process of determining the suitability of warehousing of the vehicle with respect to the mechanical parking device, and
A warehousing management program for mechanical parking devices to run a computer.

Images